#include "ros/ros.h"
#include "turtlesim/Pose.h"
#include "geometry_msgs/Twist.h"

class CHD_Turtle
{
    public:
    CHD_Turtle(ros::NodeHandle* nh);
    void pose_callback(const turtlesim::PoseConstPtr& msg);

    private:
    ros::NodeHandle nh_;
    ros::Subscriber pose_sub;
    ros::Publisher  vel_pub;
}; 